
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <canard.h>


#include <uavcan.Timestamp.h>


#ifdef __cplusplus
extern "C"
{
#endif

#define ARDUPILOT_GNSS_RELPOSHEADING_MAX_SIZE 20
#define ARDUPILOT_GNSS_RELPOSHEADING_SIGNATURE (0xA1727AF295F94478ULL)

#define ARDUPILOT_GNSS_RELPOSHEADING_ID 20006




struct ardupilot_gnss_RelPosHeading {



    struct uavcan_Timestamp timestamp;



    bool reported_heading_acc_available;



    float reported_heading_deg;



    float reported_heading_acc_deg;



    float relative_distance_m;



    float relative_down_pos_m;



};

uint32_t ardupilot_gnss_RelPosHeading_encode(struct ardupilot_gnss_RelPosHeading* msg, uint8_t* buffer
#if CANARD_ENABLE_TAO_OPTION
    , bool tao
#endif
);
bool ardupilot_gnss_RelPosHeading_decode(const CanardRxTransfer* transfer, struct ardupilot_gnss_RelPosHeading* msg);

#if defined(CANARD_DSDLC_INTERNAL)

static inline void _ardupilot_gnss_RelPosHeading_encode(uint8_t* buffer, uint32_t* bit_ofs, struct ardupilot_gnss_RelPosHeading* msg, bool tao);
static inline void _ardupilot_gnss_RelPosHeading_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct ardupilot_gnss_RelPosHeading* msg, bool tao);
void _ardupilot_gnss_RelPosHeading_encode(uint8_t* buffer, uint32_t* bit_ofs, struct ardupilot_gnss_RelPosHeading* msg, bool tao) {

    (void)buffer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;





    _uavcan_Timestamp_encode(buffer, bit_ofs, &msg->timestamp, false);






    canardEncodeScalar(buffer, *bit_ofs, 1, &msg->reported_heading_acc_available);

    *bit_ofs += 1;






    canardEncodeScalar(buffer, *bit_ofs, 32, &msg->reported_heading_deg);

    *bit_ofs += 32;






    canardEncodeScalar(buffer, *bit_ofs, 32, &msg->reported_heading_acc_deg);

    *bit_ofs += 32;






    {
        uint16_t float16_val = canardConvertNativeFloatToFloat16(msg->relative_distance_m);
        canardEncodeScalar(buffer, *bit_ofs, 16, &float16_val);
    }

    *bit_ofs += 16;






    {
        uint16_t float16_val = canardConvertNativeFloatToFloat16(msg->relative_down_pos_m);
        canardEncodeScalar(buffer, *bit_ofs, 16, &float16_val);
    }

    *bit_ofs += 16;





}

void _ardupilot_gnss_RelPosHeading_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct ardupilot_gnss_RelPosHeading* msg, bool tao) {

    (void)transfer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;





    _uavcan_Timestamp_decode(transfer, bit_ofs, &msg->timestamp, false);







    canardDecodeScalar(transfer, *bit_ofs, 1, false, &msg->reported_heading_acc_available);

    *bit_ofs += 1;







    canardDecodeScalar(transfer, *bit_ofs, 32, true, &msg->reported_heading_deg);

    *bit_ofs += 32;







    canardDecodeScalar(transfer, *bit_ofs, 32, true, &msg->reported_heading_acc_deg);

    *bit_ofs += 32;







    {
        uint16_t float16_val;
        canardDecodeScalar(transfer, *bit_ofs, 16, true, &float16_val);
        msg->relative_distance_m = canardConvertFloat16ToNativeFloat(float16_val);
    }

    *bit_ofs += 16;







    {
        uint16_t float16_val;
        canardDecodeScalar(transfer, *bit_ofs, 16, true, &float16_val);
        msg->relative_down_pos_m = canardConvertFloat16ToNativeFloat(float16_val);
    }

    *bit_ofs += 16;






}
#endif
#ifdef CANARD_DSDLC_TEST_BUILD
struct ardupilot_gnss_RelPosHeading sample_ardupilot_gnss_RelPosHeading_msg(void);
#endif
#ifdef __cplusplus
} // extern "C"
#endif
